
#include "stm32f4xx_hal.h"

#define R 0.3
#define kk 1
#define RPM_limit 4000

struct wheel_info
{
	int16_t RPM_target[4];
	int16_t RPM_out[4];
	
};

struct _RPM
{
	float p;
	float i;
	float d;
};
